#ifndef CONFIG_H__
#define CONFIG_H__

#define EARS_PORT		111
#define EYEBROW_PORT	110
#define GRIPPER_PORT	109
#define TRUNK_PORT		108

// NOT USED, TODO: remove
enum MXLMODES {
	CM_NONE = -1,
	CM_POSITION_MODE, // uses one motor and encoder with position controller
	CM_SPEED_MODE, // uses one motor and encoder with speed controller
	CM_CURRENT_MODE, // uses one motor and encoder with current controller
	CM_TORQUE_MODE, // uses one motor and encoder with torque controller
	CM_SEA_MODE, // uses one motor and two encoders with SEA controller
	CM_PWM_MODE, // uses one motor and encoder with PWM controller, no PID, just PWM !!
	CM_INDEX_INIT,
	CM_EXT_INIT_MODE, // reset counter on external io pulse, turn motor with given torque in M3XL_DESIRED_TORQUE_L

	CM_STOP_MODE = 12, // do nothing, no actuated motors
	CM_TEST_MODE, // for general testing
};

#endif
